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Received: 2007-11-23

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Journal of Zhejiang University SCIENCE A 2008 Vol.9 No.8 P.1141~1149


Development of a non-cable whole tectorial membrane micro-robot for an endoscope

Author(s):  Dong-dong YE, Guo-zheng YAN, Kun-dong WANG, Guan-ying MA

Affiliation(s):  Department of Instrument, Shanghai Jiao Tong University, Shanghai 200240, China

Corresponding email(s):   yeddon@sjtu.edu.cn, gzhyan@sjtu.edu.cn

Key Words:  Micro-robot, Endoscope, Intestine tract, Silicone of bellow shape, Linear actuator, Wireless power

Dong-dong YE, Guo-zheng YAN, Kun-dong WANG, Guan-ying MA. Development of a non-cable whole tectorial membrane micro-robot for an endoscope[J]. Journal of Zhejiang University Science A, 2008, 9(8): 1141~1149.

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publisher="Zhejiang University Press & Springer",

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%T Development of a non-cable whole tectorial membrane micro-robot for an endoscope
%A Dong-dong YE
%A Guo-zheng YAN
%A Kun-dong WANG
%A Guan-ying MA
%J Journal of Zhejiang University SCIENCE A
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A0720074

T1 - Development of a non-cable whole tectorial membrane micro-robot for an endoscope
A1 - Dong-dong YE
A1 - Guo-zheng YAN
A1 - Kun-dong WANG
A1 - Guan-ying MA
J0 - Journal of Zhejiang University Science A
VL - 9
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SP - 1141
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%@ 1673-565X
Y1 - 2008
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A0720074

A novel non-cable whole tectorial membrane micro-robot for an endoscope is developed. The micro-robot we have fabricated and tested can propel itself in the intestine tract of a pig in an autonomous manner by earthworm-like locomotion. The silicone of bellow shape is laid over the outer surface of the micro-robot to reduce the affection of the viscoelastic properties of the intestine. wireless power transfer and communication systems are employed to realize the non-cable locomotion of the micro-robot. The prototype of the micro-robot is 13.5 mm in diameter and 108 mm in length. The experimental results show that the towing force for the micro-robot is about 0.8 N, which is much smaller than the maximum driving force 2.55 N of the linear actuator. The supplying power of the wireless power transfer system fulfills the needs of the micro-robot system and the micro-robot can creep reliably in the large intestine of a pig and other contact environments.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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